text: /*
  This file is part of CanFestival, a library implementing CanOpen Stack. 
  
  Copyright (C): Edouard TISSERANT and Francis DUPIN
  
  See COPYING file for copyrights details.
  
  This library is free software; you can redistribute it and/or
  modify it under the terms of the GNU Lesser General Public
  License as published by the Free Software Foundation; either
  version 2.1 of the License, or (at your option) any later version.
  
  This library is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  Lesser General Public License for more details.
  
  You should have received a copy of the GNU Lesser General Public
  License along with this library; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  */
  
  #ifndef __data_h__
  #define __data_h__
  
  #ifdef __cplusplus
  extern "C" {
  #endif
  
  /* declaration of CO_Data type let us include all necessary headers
   struct struct_CO_Data can then be defined later
   */
  typedef struct struct_CO_Data CO_Data;
  
  #include "applicfg.h"
  #include "def.h"
  #include "can.h"
  #include "objdictdef.h"
  #include "objacces.h"
  #include "sdo.h"
  #include "pdo.h"
  #include "states.h"
  #include "lifegrd.h"
  #include "sync.h"
  #include "nmtSlave.h"
  #include "nmtMaster.h"
  #include "emcy.h"
  #ifdef CO_ENABLE_LSS
  #include "lss.h"
  #endif
  
  /**
   * @ingroup od
   * @brief This structure contains all necessary informations to define a CANOpen node 
   */
  struct struct_CO_Data {
  	/* Object dictionary */
  	UNS8 *bDeviceNodeId;
  	const indextable *objdict;
  	s_PDO_status *PDO_status;
  	const quick_index *firstIndex;
  	const quick_index *lastIndex;
  	const UNS16 *ObjdictSize;
  	const UNS8 *iam_a_slave;
  	valueRangeTest_t valueRangeTest;
  	
  	/* SDO */
  	s_transfer transfers[SDO_MAX_SIMULTANEOUS_TRANSFERTS];
  	/* s_sdo_parameter *sdo_parameters; */
  
  	/* State machine */
  	e_nodeState nodeState;
  	s_state_communication CurrentCommunicationState;
  	initialisation_t initialisation;
  	preOperational_t preOperational;
  	operational_t operational;
  	stopped_t stopped;
       void (*NMT_Slave_Node_Reset_Callback)(CO_Data*);
       void (*NMT_Slave_Communications_Reset_Callback)(CO_Data*);
       
  	/* NMT-heartbeat */
  	UNS8 *ConsumerHeartbeatCount;
  	UNS32 *ConsumerHeartbeatEntries;
  	TIMER_HANDLE *ConsumerHeartBeatTimers;
  	UNS16 *ProducerHeartBeatTime;
  	TIMER_HANDLE ProducerHeartBeatTimer;
  	heartbeatError_t heartbeatError;
  	e_nodeState NMTable[NMT_MAX_NODE_ID]; 
  
  	/* SYNC */
  	TIMER_HANDLE syncTimer;
  	UNS32 *COB_ID_Sync;
  	UNS32 *Sync_Cycle_Period;
  	/*UNS32 *Sync_window_length;;*/
  	post_sync_t post_sync;
  	post_TPDO_t post_TPDO;
  	post_SlaveBootup_t post_SlaveBootup;
  	
  	/* General */
  	UNS8 toggle;
  	CAN_PORT canHandle;	
  	scanIndexOD_t scanIndexOD;
  	storeODSubIndex_t storeODSubIndex; 
  	
  	/* DCF concise */
      const indextable* dcf_odentry;
  	UNS8* dcf_cursor;
  	UNS32 dcf_entries_count;
  	UNS8 dcf_request;
  	
  	/* EMCY */
  	e_errorState error_state;
  	UNS8 error_history_size;
  	UNS8* error_number;
  	UNS32* error_first_element;
  	UNS8* error_register;
      UNS32* error_cobid;
  	s_errors error_data[EMCY_MAX_ERRORS];
  	post_emcy_t post_emcy;
  	
  #ifdef CO_ENABLE_LSS
  	/* LSS */
  	lss_transfer_t lss_transfer;
  	lss_StoreConfiguration_t lss_StoreConfiguration;
  #endif	
  };
  
  #define NMTable_Initializer Unknown_state,
  
  #define s_transfer_Initializer {\
  		0,          /* nodeId */\
  		0,          /* wohami */\
  		SDO_RESET,  /* state */\
  		0,          /* toggle */\
  		0,          /* abortCode */\
  		0,          /* index */\
  		0,          /* subIndex */\
  		0,          /* count */\
  		0,          /* offset */\
  		{0},        /* data (static use, so that all the table is initialize at 0)*/\
  		0,          /* dataType */\
  		-1,         /* timer */\
  		NULL        /* Callback */\
  	  },
  
  #define ERROR_DATA_INITIALIZER \
  	{\
  	0, /* errCode */\
  	0, /* errRegMask */\
  	0 /* active */\
  	},
  	
  #ifdef CO_ENABLE_LSS
  
  #ifdef CO_ENABLE_LSS_FS	
  #define lss_fs_Initializer \
  		,0,						/* IDNumber */\
    		128, 					/* BitChecked */\
    		0,						/* LSSSub */\
    		0, 						/* LSSNext */\
    		0, 						/* LSSPos */\
    		LSS_FS_RESET,			/* FastScan_SM */\
    		-1,						/* timerFS */\
    		{{0,0,0,0},{0,0,0,0}}   /* lss_fs_transfer */
  #else
  #define lss_fs_Initializer
  #endif		
  
  #define lss_Initializer {\
  		LSS_RESET,  			/* state */\
  		0,						/* command */\
  		LSS_WAITING_MODE, 		/* mode */\
  		0,						/* dat1 */\
  		0,						/* dat2 */\
  		0,          			/* NodeID */\
  		0,          			/* addr_sel_match */\
  		0,          			/* addr_ident_match */\
  		"none",         		/* BaudRate */\
  		0,          			/* SwitchDelay */\
  		SDELAY_OFF,   			/* SwitchDelayState */\
  		NULL,					/* canHandle_t */\
  		-1,						/* TimerMSG */\
  		-1,          			/* TimerSDELAY */\
  		NULL,        			/* Callback */\
  		0						/* LSSanswer */\
  		lss_fs_Initializer		/*FastScan service initialization */\
  	  },\
  	  NULL 	/* _lss_StoreConfiguration*/
  #else
  #define lss_Initializer
  #endif
  
  
  /* A macro to initialize the data in client app.*/
  /* CO_Data structure */
  #define CANOPEN_NODE_DATA_INITIALIZER(NODE_PREFIX) {\
  	/* Object dictionary*/\
  	& NODE_PREFIX ## _bDeviceNodeId,     /* bDeviceNodeId */\
  	NODE_PREFIX ## _objdict,             /* objdict  */\
  	NODE_PREFIX ## _PDO_status,          /* PDO_status */\
  	& NODE_PREFIX ## _firstIndex,        /* firstIndex */\
  	& NODE_PREFIX ## _lastIndex,         /* lastIndex */\
  	& NODE_PREFIX ## _ObjdictSize,       /* ObjdictSize */\
  	& NODE_PREFIX ## _iam_a_slave,       /* iam_a_slave */\
  	NODE_PREFIX ## _valueRangeTest,      /* valueRangeTest */\
  	\
  	/* SDO, structure s_transfer */\
  	{\
            REPEAT_SDO_MAX_SIMULTANEOUS_TRANSFERTS_TIMES(s_transfer_Initializer)\
  	},\
  	\
  	/* State machine*/\
  	Unknown_state,      /* nodeState */\
  	/* structure s_state_communication */\
  	{\
  		0,          /* csBoot_Up */\
  		0,          /* csSDO */\
  		0,          /* csEmergency */\
  		0,          /* csSYNC */\
  		0,          /* csHeartbeat */\
  		0,           /* csPDO */\
  		0           /* csLSS */\
  	},\
  	_initialisation,     /* initialisation */\
  	_preOperational,     /* preOperational */\
  	_operational,        /* operational */\
  	_stopped,            /* stopped */\
  	NULL,                /* NMT node reset callback */\
  	NULL,                /* NMT communications reset callback */\
  	\
  	/* NMT-heartbeat */\
  	& NODE_PREFIX ## _highestSubIndex_obj1016, /* ConsumerHeartbeatCount */\
  	NODE_PREFIX ## _obj1016,                   /* ConsumerHeartbeatEntries */\
  	NODE_PREFIX ## _heartBeatTimers,           /* ConsumerHeartBeatTimers  */\
  	& NODE_PREFIX ## _obj1017,                 /* ProducerHeartBeatTime */\
  	TIMER_NONE,                                /* ProducerHeartBeatTimer */\
  	_heartbeatError,           /* heartbeatError */\
  	\
  	{REPEAT_NMT_MAX_NODE_ID_TIMES(NMTable_Initializer)},\
                                                     /* is  well initialized at "Unknown_state". Is it ok ? (FD)*/\
  	\
  	/* SYNC */\
  	TIMER_NONE,                                /* syncTimer */\
  	& NODE_PREFIX ## _obj1005,                 /* COB_ID_Sync */\
  	& NODE_PREFIX ## _obj1006,                 /* Sync_Cycle_Period */\
  	/*& NODE_PREFIX ## _obj1007, */            /* Sync_window_length */\
  	_post_sync,                 /* post_sync */\
  	_post_TPDO,                 /* post_TPDO */\
  	_post_SlaveBootup,			/* post_SlaveBootup */\
  	\
  	/* General */\
  	0,                                         /* toggle */\
  	NULL,                   /* canSend */\
  	NODE_PREFIX ## _scanIndexOD,                /* scanIndexOD */\
  	_storeODSubIndex,                /* storeODSubIndex */\
      /* DCF concise */\
      NULL,       /*dcf_odentry*/\
  	NULL,		/*dcf_cursor*/\
  	1,		/*dcf_entries_count*/\
  	0,		/* dcf_request*/\
  	\
  	/* EMCY */\
  	Error_free,                      /* error_state */\
  	sizeof(NODE_PREFIX ## _obj1003) / sizeof(NODE_PREFIX ## _obj1003[0]),      /* error_history_size */\
  	& NODE_PREFIX ## _highestSubIndex_obj1003,    /* error_number */\
  	& NODE_PREFIX ## _obj1003[0],    /* error_first_element */\
  	& NODE_PREFIX ## _obj1001,       /* error_register */\
      & NODE_PREFIX ## _obj1014,       /* error_cobid */\
  	/* error_data: structure s_errors */\
  	{\
  	REPEAT_EMCY_MAX_ERRORS_TIMES(ERROR_DATA_INITIALIZER)\
  	},\
  	_post_emcy,              /* post_emcy */\
  	/* LSS */\
  	lss_Initializer\
  }
  
  #ifdef __cplusplus
  };
  #endif
  
  #endif /* __data_h__ */
  
  
  